version: '3.7'
services:

  arduino:
    image: docker.io/cyrilix/robocar-arduino:v0.3.0
    command:
      - "-device=/dev/ttyAMA1"
      - "-baud=115200"
      - "-mqtt-retain=false"
      - "-debug=false"
    devices:
      - "/dev/ttyAMA1:/dev/ttyAMA1:rw"
    user: "1234:20" # Set 20/dialout group to access to serial device
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-arduino
      MQTT_TOPIC_THROTTLE: "${MQTT_TOPIC_RC_THROTTLE}"
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_RC_STEERING}"
      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
      MQTT_TOPIC_SWITCH_RECORD: "${MQTT_TOPIC_RC_SWITCH_RECORD}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  led:
    image: docker.io/cyrilix/robocar-led:v0.3.0
    command:
      - "-mqtt-retain=false"
      - "-debug=false"
    devices:
      - "/dev/gpiomem:/dev/gpiomem:rw"
      - "/dev/gpiochip0:/dev/gpiochip0:rw"
      - "/dev/gpiochip1:/dev/gpiochip1:rw"
    user: "1234:997" # Set 997/gpio group to access to serial device
    network_mode: host
    privileged: true
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-led
      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
      MQTT_TOPIC_RECORD: "${MQTT_TOPIC_RC_SWITCH_RECORD}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"


  tflite-steering:
    image: docker.io/cyrilix/robocar-steering-tflite-edgetpu:v0.1.0
    command:
      - "--model=/model/model_edgetpu.tflite"
      - "--edge-verbosity=0"
      - "-debug=false"
    user: "0:0"
    network_mode: host
    privileged: true
    volumes:
      - /dev/bus/usb:/dev/bus/usb
      - /sys:/sys
      - /home/pi/models/steering:/model
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-tflite-steering
      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_TF_STEERING}"
      MQTT_QOS: "0"
      LD_LIBRARY_PATH: "/usr/local/lib/:/usr/lib"
      TZ: "Europe/Paris"

  steering:
    image: docker.io/cyrilix/robocar-steering:v0.3.0
    command:
      - "-mqtt-retain=false"
      - "-debug=false"
    user: "1234:1234"
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-steering
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_STEERING}"
      MQTT_TOPIC_TF_STEERING: "${MQTT_TOPIC_TF_STEERING}"
      MQTT_TOPIC_RC_STEERING: "${MQTT_TOPIC_RC_STEERING}"
      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  throttle:
    image: docker.io/cyrilix/robocar-throttle:v0.3.0
    command:
      - "-mqtt-retain=false"
      - "-debug=false"
    user: "1234:1234"
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-throttle
      MQTT_TOPIC_THROTTLE: "${MQTT_TOPIC_THROTTLE}"
      MQTT_TOPIC_RC_THROTTLE: "${MQTT_TOPIC_RC_THROTTLE}"
      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
      THROTTLE_MIN: "${THROTTLE_MIN}"
      THROTTLE_MAX: "${THROTTLE_MAX}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  road:
    image: docker.io/cyrilix/robocar-road:v0.1.0
    command:
      - "-horizon=20"
      - "-mqtt-retain=false"
      - "-debug=false"
    user: "1234:1234"
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-road
      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
      MQTT_TOPIC_ROAD: car/satanas/part/road
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

#  objects:
#    image: cyrilix/robocar-objects-detection
#    command:
#      - "-mqtt-retain=false"
#      - "-tf-model-path=/model/frozen_inference_graph.pb"
#      - "-tf-model-config-path=/model/ssd_mobilenet_v2_coco_2018_03_29.pbtxt"
#    user: "1234:1234"
#    volumes:
#      - /home/pi/models/objects-detection:/model
#    network_mode: host
#    environment:
#      MQTT_BROKER: "${MQTT_BROKER}"
#      MQTT_USERNAME: "${MQTT_USERNAME}"
#      MQTT_PASSWORD: "${MQTT_PASSWORD}"
#      MQTT_CLIENT_ID: rc-objects-detection
#      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
#      MQTT_TOPIC_OBJECTS: car/satanas/part/objects
#      MQTT_QOS: "0"
#      TZ: "Europe/Paris"

  record:
    image: docker.io/cyrilix/robocar-record:v0.3.0
    command:
      - "-mqtt-retain=true"
      - "-debug=false"
    user: "1234:1234"
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-record
      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_RC_STEERING}"
      MQTT_TOPIC_SWITCH_RECORD: "${MQTT_TOPIC_RC_SWITCH_RECORD}"
      MQTT_TOPIC_RECORDS: "${MQTT_TOPIC_RECORDS}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  simulator:
    image: docker.io/cyrilix/robocar-simulator:v0.3.0
    command:
      - "-simulator-address=${SIMULATOR_ADDRESS}"
      - "-car-style=donkey"
      - "-car-name=Satanas"
      - "-car-color=100,0,255"
      - "-camera-img-h=${CAMERA_HEIGHT}"
      - "-camera-img-w=${CAMERA_WIDTH}"
      - "-debug=false"
    user: "1234:1234"
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-simulator
      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_SIMULATOR_STEERING}"
      MQTT_TOPIC_THROTTLE: "${MQTT_TOPIC_SIMULATOR_THROTTLE}"
      MQTT_TOPIC_STEERING_CTRL: "${MQTT_TOPIC_STEERING}"
      MQTT_TOPIC_THROTTLE_CTRL: "${MQTT_TOPIC_THROTTLE}"
      TZ: "Europe/Paris"